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<div class="title">person_cluster.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2013-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * person_cluster.h</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * Created on: Nov 30, 2012</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> * Author: Matteo Munaro</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_PEOPLE_PERSON_CLUSTER_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_PEOPLE_PERSON_CLUSTER_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/pcl_visualizer.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>people</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">class </span>PersonCluster;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span> operator&lt;(<span class="keyword">const</span> PersonCluster&lt;PointT&gt;&amp; c1, <span class="keyword">const</span> PersonCluster&lt;PointT&gt;&amp; c2);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_cluster.html">   59</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1people_1_1_person_cluster.html">PersonCluster</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keywordtype">bool</span> head_centroid_;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
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<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_cluster.html#abab18b6f87218ef881f255a997e0b0b2">  121</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#abab18b6f87218ef881f255a997e0b0b2">tcenter_</a>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_cluster.html#a04df959b8118eba9a4f8226a8d09e2ea">  124</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a04df959b8118eba9a4f8226a8d09e2ea">min_</a>;</div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_cluster.html#a70bb078da8a7fdad19cf6c2d89ee16a3">  126</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a70bb078da8a7fdad19cf6c2d89ee16a3">max_</a>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_cluster.html#adcf5fc07b3d4ab6a1998331c550cea4c">  129</a></span>&#160;      <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#adcf5fc07b3d4ab6a1998331c550cea4c">points_indices_</a>;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_cluster.html#aa060dd17b929a368ddf9da43f3521d2c">  132</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#aa060dd17b929a368ddf9da43f3521d2c">vertical_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_cluster.html#a5b3016d9959177ba4a4c08954d3dd7cf">  134</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a5b3016d9959177ba4a4c08954d3dd7cf">person_confidence_</a>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#acdbf38bddd66ab5f9c78779e739cd4a8">PersonCluster</a> (</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          <span class="keyword">const</span> PointCloudPtr&amp; input_cloud,</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; indices,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <span class="keyword">const</span> Eigen::VectorXf&amp; ground_coeffs,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          <span class="keywordtype">float</span> sqrt_ground_coeffs,</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <span class="keywordtype">bool</span> head_centroid,</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          <span class="keywordtype">bool</span> vertical = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#ac5776d808074836b52d9d2058e945d47">~PersonCluster</a> ();</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a5ea5ed470cefa3c6c09733bfaf7b7daf">getHeight</a> ();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a12a21d2acd77867e8cd44a5f0155a6ea">updateHeight</a> (<span class="keyword">const</span> Eigen::VectorXf&amp; ground_coeffs);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a12a21d2acd77867e8cd44a5f0155a6ea">updateHeight</a> (<span class="keyword">const</span> Eigen::VectorXf&amp; ground_coeffs, <span class="keywordtype">float</span> sqrt_ground_coeffs);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#adff38630238853b753553ef9885e0660">getDistance</a> ();</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#ae11887c83c1f61348695d1aed54cfa23">getAngle</a> ();</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a90db26a9c314bd706a2b8025c04d4147">getAngleMin</a> ();</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a28f9d75f704280c991cb76a1191f3f5a">getAngleMax</a> ();</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a317c12f4ab80b0bc52e417a781680d34">getIndices</a> ();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      Eigen::Vector3f&amp;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#aa3ea577260c5882bc9cd0c2b5295f95b">getTTop</a> ();</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      Eigen::Vector3f&amp;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a9cd4b115c2926d00127696479177ae24">getTBottom</a> ();</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      Eigen::Vector3f&amp;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#af3b377e7c7e0a4f7fec44d45fb45a05e">getTCenter</a> ();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      Eigen::Vector3f&amp;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#ad16829dec35ee0693ecb361e6b492eb9">getTop</a> ();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      Eigen::Vector3f&amp;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a26f41f28f9754d5a56820af6efa30f90">getBottom</a> ();</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      Eigen::Vector3f&amp;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a62167170f1b987a88b574bd2deebd805">getCenter</a> ();  </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="comment">//Eigen::Vector3f&amp; getTMax();</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      Eigen::Vector3f&amp;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a61b05d6396ec901970f323f0607f958c">getMin</a> ();</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      Eigen::Vector3f&amp;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#af2530b473928508064a1a6fa097c3aa5">getMax</a> ();</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a4c1e637e1da5da014353d6c0fd308edb">getPersonConfidence</a> ();</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#ac917d909760d229f1970081c6966a949">getNumberPoints</a> ();</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a83193cbb84de1dbaf47052c26a01e458">setHeight</a> (<span class="keywordtype">float</span> height);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a3c67bace7f832b981f953e15c6b7a940">setPersonConfidence</a> (<span class="keywordtype">float</span> confidence);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a93926179ce6ba5fc6e184dc9a898a661">drawTBoundingBox</a> (<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html">pcl::visualization::PCLVisualizer</a>&amp; viewer, <span class="keywordtype">int</span> person_number);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_person_cluster.html#a3c0f8ec64969cf84bc902c124cdea544">  312</a></span>&#160;      <span class="keyword">friend</span> <span class="keywordtype">bool</span> operator&lt; &lt;&gt;(<span class="keyword">const</span> <a class="code" href="classpcl_1_1people_1_1_person_cluster.html">PersonCluster&lt;PointT&gt;</a>&amp; c1, <span class="keyword">const</span> <a class="code" href="classpcl_1_1people_1_1_person_cluster.html">PersonCluster&lt;PointT&gt;</a>&amp; c2);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1people_1_1_person_cluster.html#a46704d104c2c90b7517a6f4ae5e2af7c">init</a>(</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          <span class="keyword">const</span> PointCloudPtr&amp; input_cloud,</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; indices,</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          <span class="keyword">const</span> Eigen::VectorXf&amp; ground_coeffs,</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;          <span class="keywordtype">float</span> sqrt_ground_coeffs,</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;          <span class="keywordtype">bool</span> head_centroid,</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;          <span class="keywordtype">bool</span> vertical);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    };</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  } <span class="comment">/* namespace people */</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;} <span class="comment">/* namespace pcl */</span></div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="preprocessor">#include &lt;pcl/people/impl/person_cluster.hpp&gt;</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_PEOPLE_PERSON_CLUSTER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html">pcl::people::PersonCluster</a></div><div class="ttdoc">PersonCluster represents a class for representing information about a cluster containing a person.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a04df959b8118eba9a4f8226a8d09e2ea"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a04df959b8118eba9a4f8226a8d09e2ea">pcl::people::PersonCluster::min_</a></div><div class="ttdeci">Eigen::Vector3f min_</div><div class="ttdoc">Vector containing the minimum coordinates of the cluster.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a086ed6dea25a2228f98c607fc178247e"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a086ed6dea25a2228f98c607fc178247e">pcl::people::PersonCluster::center_</a></div><div class="ttdeci">Eigen::Vector3f center_</div><div class="ttdoc">Cluster centroid.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a12a21d2acd77867e8cd44a5f0155a6ea"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a12a21d2acd77867e8cd44a5f0155a6ea">pcl::people::PersonCluster::updateHeight</a></div><div class="ttdeci">float updateHeight(const Eigen::VectorXf &amp;ground_coeffs)</div><div class="ttdoc">Update the height of the cluster.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:267</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a1543327de32a9f098f3d3daa94936777"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a1543327de32a9f098f3d3daa94936777">pcl::people::PersonCluster::angle_</a></div><div class="ttdeci">float angle_</div><div class="ttdoc">Cluster centroid horizontal angle with respect to z axis.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a1675afc35c589a4a3c71e7cb4f693fa8"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a1675afc35c589a4a3c71e7cb4f693fa8">pcl::people::PersonCluster::sum_y_</a></div><div class="ttdeci">float sum_y_</div><div class="ttdoc">Sum of y coordinates of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:82</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a18a7352a401a2b66be9543fc074f0bb7"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a18a7352a401a2b66be9543fc074f0bb7">pcl::people::PersonCluster::bottom_</a></div><div class="ttdeci">Eigen::Vector3f bottom_</div><div class="ttdoc">Cluster bottom point.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a19af774dc7758e752139915e2a90a953"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a19af774dc7758e752139915e2a90a953">pcl::people::PersonCluster::max_x_</a></div><div class="ttdeci">float max_x_</div><div class="ttdoc">Maximum x coordinate of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a26f41f28f9754d5a56820af6efa30f90"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a26f41f28f9754d5a56820af6efa30f90">pcl::people::PersonCluster::getBottom</a></div><div class="ttdeci">Eigen::Vector3f &amp; getBottom()</div><div class="ttdoc">Returns the bottom point.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:319</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a28f9d75f704280c991cb76a1191f3f5a"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a28f9d75f704280c991cb76a1191f3f5a">pcl::people::PersonCluster::getAngleMax</a></div><div class="ttdeci">float getAngleMax()</div><div class="ttdoc">Returns the maximum angle formed by the cluster with respect to the sensor (in radians).</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:349</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a2ab18a846aa0e12e7aff3367ebb281eb"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a2ab18a846aa0e12e7aff3367ebb281eb">pcl::people::PersonCluster::c_x_</a></div><div class="ttdeci">float c_x_</div><div class="ttdoc">x coordinate of the cluster centroid.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:90</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a2d300bdedfb0565f82d22da6c50678db"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a2d300bdedfb0565f82d22da6c50678db">pcl::people::PersonCluster::max_y_</a></div><div class="ttdeci">float max_y_</div><div class="ttdoc">Maximum y coordinate of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:75</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a317c12f4ab80b0bc52e417a781680d34"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a317c12f4ab80b0bc52e417a781680d34">pcl::people::PersonCluster::getIndices</a></div><div class="ttdeci">pcl::PointIndices &amp; getIndices()</div><div class="ttdoc">Returns the indices of the point cloud points corresponding to the cluster.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:255</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a3c67bace7f832b981f953e15c6b7a940"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a3c67bace7f832b981f953e15c6b7a940">pcl::people::PersonCluster::setPersonConfidence</a></div><div class="ttdeci">void setPersonConfidence(float confidence)</div><div class="ttdoc">Sets the HOG confidence.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:373</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a4098d19e66031a062d414fda7181c264"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a4098d19e66031a062d414fda7181c264">pcl::people::PersonCluster::angle_min_</a></div><div class="ttdeci">float angle_min_</div><div class="ttdoc">Minimum angle of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a42ea2080d52cfb150639ffc20e45f556"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a42ea2080d52cfb150639ffc20e45f556">pcl::people::PersonCluster::sum_x_</a></div><div class="ttdeci">float sum_x_</div><div class="ttdoc">Sum of x coordinates of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a46704d104c2c90b7517a6f4ae5e2af7c"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a46704d104c2c90b7517a6f4ae5e2af7c">pcl::people::PersonCluster::init</a></div><div class="ttdeci">void init(const PointCloudPtr &amp;input_cloud, const pcl::PointIndices &amp;indices, const Eigen::VectorXf &amp;ground_coeffs, float sqrt_ground_coeffs, bool head_centroid, bool vertical)</div><div class="ttdoc">PersonCluster initialization.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:59</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a4a52d7ed3eccb77d62745e67c2c7d6f3"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a4a52d7ed3eccb77d62745e67c2c7d6f3">pcl::people::PersonCluster::min_z_</a></div><div class="ttdeci">float min_z_</div><div class="ttdoc">Minimum z coordinate of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a4c1e637e1da5da014353d6c0fd308edb"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a4c1e637e1da5da014353d6c0fd308edb">pcl::people::PersonCluster::getPersonConfidence</a></div><div class="ttdeci">float getPersonConfidence()</div><div class="ttdoc">Returns the HOG confidence.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:367</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a4e87573e63b4dc72111bdf44638c8ddf"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a4e87573e63b4dc72111bdf44638c8ddf">pcl::people::PersonCluster::n_</a></div><div class="ttdeci">int n_</div><div class="ttdoc">Number of cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a5b3016d9959177ba4a4c08954d3dd7cf"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a5b3016d9959177ba4a4c08954d3dd7cf">pcl::people::PersonCluster::person_confidence_</a></div><div class="ttdeci">float person_confidence_</div><div class="ttdoc">PersonCluster HOG confidence.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a5ea5ed470cefa3c6c09733bfaf7b7daf"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a5ea5ed470cefa3c6c09733bfaf7b7daf">pcl::people::PersonCluster::getHeight</a></div><div class="ttdeci">float getHeight()</div><div class="ttdoc">Returns the height of the cluster.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:261</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a61b05d6396ec901970f323f0607f958c"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a61b05d6396ec901970f323f0607f958c">pcl::people::PersonCluster::getMin</a></div><div class="ttdeci">Eigen::Vector3f &amp; getMin()</div><div class="ttdoc">Returns the point formed by min x, min y and min z.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:331</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a62167170f1b987a88b574bd2deebd805"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a62167170f1b987a88b574bd2deebd805">pcl::people::PersonCluster::getCenter</a></div><div class="ttdeci">Eigen::Vector3f &amp; getCenter()</div><div class="ttdoc">Returns the centroid.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:325</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a70bb078da8a7fdad19cf6c2d89ee16a3"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a70bb078da8a7fdad19cf6c2d89ee16a3">pcl::people::PersonCluster::max_</a></div><div class="ttdeci">Eigen::Vector3f max_</div><div class="ttdoc">Vector containing the maximum coordinates of the cluster.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a72fa49ffb37237fd3ea7e47cef936e52"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a72fa49ffb37237fd3ea7e47cef936e52">pcl::people::PersonCluster::min_y_</a></div><div class="ttdeci">float min_y_</div><div class="ttdoc">Minimum y coordinate of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:68</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a74f62e957226e7d308368f435b908c17"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a74f62e957226e7d308368f435b908c17">pcl::people::PersonCluster::distance_</a></div><div class="ttdeci">float distance_</div><div class="ttdoc">Cluster distance from the sensor.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a765f9edbf8c5f624bee620ad4e6615b1"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a765f9edbf8c5f624bee620ad4e6615b1">pcl::people::PersonCluster::c_z_</a></div><div class="ttdeci">float c_z_</div><div class="ttdoc">z coordinate of the cluster centroid.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a83193cbb84de1dbaf47052c26a01e458"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a83193cbb84de1dbaf47052c26a01e458">pcl::people::PersonCluster::setHeight</a></div><div class="ttdeci">void setHeight(float height)</div><div class="ttdoc">Sets the cluster height.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:379</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a90db26a9c314bd706a2b8025c04d4147"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a90db26a9c314bd706a2b8025c04d4147">pcl::people::PersonCluster::getAngleMin</a></div><div class="ttdeci">float getAngleMin()</div><div class="ttdoc">Returns the minimum angle formed by the cluster with respect to the sensor (in radians).</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:355</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a93926179ce6ba5fc6e184dc9a898a661"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a93926179ce6ba5fc6e184dc9a898a661">pcl::people::PersonCluster::drawTBoundingBox</a></div><div class="ttdeci">void drawTBoundingBox(pcl::visualization::PCLVisualizer &amp;viewer, int person_number)</div><div class="ttdoc">Draws the theoretical 3D bounding box of the cluster in the PCL visualizer.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:385</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_a9cd4b115c2926d00127696479177ae24"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#a9cd4b115c2926d00127696479177ae24">pcl::people::PersonCluster::getTBottom</a></div><div class="ttdeci">Eigen::Vector3f &amp; getTBottom()</div><div class="ttdoc">Returns the theoretical bottom point.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:301</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_aa060dd17b929a368ddf9da43f3521d2c"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#aa060dd17b929a368ddf9da43f3521d2c">pcl::people::PersonCluster::vertical_</a></div><div class="ttdeci">bool vertical_</div><div class="ttdoc">If true, the sensor is considered to be vertically placed (portrait mode).</div><div class="ttdef"><b>Definition:</b> person_cluster.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_aa3ea577260c5882bc9cd0c2b5295f95b"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#aa3ea577260c5882bc9cd0c2b5295f95b">pcl::people::PersonCluster::getTTop</a></div><div class="ttdeci">Eigen::Vector3f &amp; getTTop()</div><div class="ttdoc">Returns the theoretical top point.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:295</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_aacfc89940bb01cff276918470ad5b46d"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#aacfc89940bb01cff276918470ad5b46d">pcl::people::PersonCluster::angle_max_</a></div><div class="ttdeci">float angle_max_</div><div class="ttdoc">Maximum angle of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_ab0fd6ca379e6b691a2551d1dcf4b9dab"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#ab0fd6ca379e6b691a2551d1dcf4b9dab">pcl::people::PersonCluster::max_z_</a></div><div class="ttdeci">float max_z_</div><div class="ttdoc">Maximum z coordinate of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_abab18b6f87218ef881f255a997e0b0b2"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#abab18b6f87218ef881f255a997e0b0b2">pcl::people::PersonCluster::tcenter_</a></div><div class="ttdeci">Eigen::Vector3f tcenter_</div><div class="ttdoc">Theoretical cluster center (between ttop_ and tbottom_).</div><div class="ttdef"><b>Definition:</b> person_cluster.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_abb89eaa21f3692b504f5e8217538674f"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#abb89eaa21f3692b504f5e8217538674f">pcl::people::PersonCluster::ttop_</a></div><div class="ttdeci">Eigen::Vector3f ttop_</div><div class="ttdoc">Theoretical cluster top.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_ac5776d808074836b52d9d2058e945d47"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#ac5776d808074836b52d9d2058e945d47">pcl::people::PersonCluster::~PersonCluster</a></div><div class="ttdeci">virtual ~PersonCluster()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:429</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_ac917d909760d229f1970081c6966a949"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#ac917d909760d229f1970081c6966a949">pcl::people::PersonCluster::getNumberPoints</a></div><div class="ttdeci">int getNumberPoints()</div><div class="ttdoc">Returns the number of points of the cluster.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:361</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_acb1e54253ce170be11b8ef3cd4d3f126"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#acb1e54253ce170be11b8ef3cd4d3f126">pcl::people::PersonCluster::height_</a></div><div class="ttdeci">float height_</div><div class="ttdoc">Cluster height from the ground plane.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_acdbf38bddd66ab5f9c78779e739cd4a8"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#acdbf38bddd66ab5f9c78779e739cd4a8">pcl::people::PersonCluster::PersonCluster</a></div><div class="ttdeci">PersonCluster(const PointCloudPtr &amp;input_cloud, const pcl::PointIndices &amp;indices, const Eigen::VectorXf &amp;ground_coeffs, float sqrt_ground_coeffs, bool head_centroid, bool vertical=false)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_acf61a9bc99541c0916d470800c87193a"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#acf61a9bc99541c0916d470800c87193a">pcl::people::PersonCluster::top_</a></div><div class="ttdeci">Eigen::Vector3f top_</div><div class="ttdoc">Cluster top point.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_ad16829dec35ee0693ecb361e6b492eb9"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#ad16829dec35ee0693ecb361e6b492eb9">pcl::people::PersonCluster::getTop</a></div><div class="ttdeci">Eigen::Vector3f &amp; getTop()</div><div class="ttdoc">Returns the top point.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:313</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_adcf5fc07b3d4ab6a1998331c550cea4c"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#adcf5fc07b3d4ab6a1998331c550cea4c">pcl::people::PersonCluster::points_indices_</a></div><div class="ttdeci">pcl::PointIndices points_indices_</div><div class="ttdoc">Point cloud indices of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_adff38630238853b753553ef9885e0660"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#adff38630238853b753553ef9885e0660">pcl::people::PersonCluster::getDistance</a></div><div class="ttdeci">float getDistance()</div><div class="ttdoc">Returns the distance of the cluster from the sensor.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:289</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_ae11887c83c1f61348695d1aed54cfa23"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#ae11887c83c1f61348695d1aed54cfa23">pcl::people::PersonCluster::getAngle</a></div><div class="ttdeci">float getAngle()</div><div class="ttdoc">Returns the angle formed by the cluster's centroid with respect to the sensor (in radians).</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:343</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_ae4d520a766af2d6d9889f90640878af5"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#ae4d520a766af2d6d9889f90640878af5">pcl::people::PersonCluster::min_x_</a></div><div class="ttdeci">float min_x_</div><div class="ttdoc">Minimum x coordinate of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_af2530b473928508064a1a6fa097c3aa5"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#af2530b473928508064a1a6fa097c3aa5">pcl::people::PersonCluster::getMax</a></div><div class="ttdeci">Eigen::Vector3f &amp; getMax()</div><div class="ttdoc">Returns the point formed by max x, max y and max z.</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:337</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_af3b377e7c7e0a4f7fec44d45fb45a05e"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#af3b377e7c7e0a4f7fec44d45fb45a05e">pcl::people::PersonCluster::getTCenter</a></div><div class="ttdeci">Eigen::Vector3f &amp; getTCenter()</div><div class="ttdoc">Returns the theoretical centroid (at half height).</div><div class="ttdef"><b>Definition:</b> person_cluster.hpp:307</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_af6adc565b4caf4713cfe31f28f6565eb"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#af6adc565b4caf4713cfe31f28f6565eb">pcl::people::PersonCluster::sum_z_</a></div><div class="ttdeci">float sum_z_</div><div class="ttdoc">Sum of z coordinates of the cluster points.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_af9de280cf8a140963baeb0cdb3a99db7"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#af9de280cf8a140963baeb0cdb3a99db7">pcl::people::PersonCluster::tbottom_</a></div><div class="ttdeci">Eigen::Vector3f tbottom_</div><div class="ttdoc">Theoretical cluster bottom (lying on the ground plane).</div><div class="ttdef"><b>Definition:</b> person_cluster.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html_affa65f5596039a5f8c0abdb40e0d8aa8"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html#affa65f5596039a5f8c0abdb40e0d8aa8">pcl::people::PersonCluster::c_y_</a></div><div class="ttdeci">float c_y_</div><div class="ttdoc">y coordinate of the cluster centroid.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:92</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html">pcl::visualization::PCLVisualizer</a></div><div class="ttdoc">PCL Visualizer main class.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.h:87</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
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